Adaptive fuzzy sliding mode controller for autonomous uderwater vehicles
This thesis presents an adaptive fuzzy sliding mode controller (AFSMC) for autonomous underwater vehicles (AUVs). Control of an AUV is a challenging problem due to the highly non-linear dynamics uncertain parameters and unpredictable external disturbances. Therefore, conventional control methods...
| Main Author: | |
|---|---|
| Other Authors: | |
| Format: | Thesis |
| Published: |
2008
|
| Subjects: | |
| Online Access: | http://hdl.handle.net/10356/4284 |
| _version_ | 1826119710046945280 |
|---|---|
| author | Ge, Haoran. |
| author2 | Balasuriya, Arjuna Prabhath |
| author_facet | Balasuriya, Arjuna Prabhath Ge, Haoran. |
| author_sort | Ge, Haoran. |
| collection | NTU |
| description | This thesis presents an adaptive fuzzy sliding mode controller (AFSMC) for
autonomous underwater vehicles (AUVs). Control of an AUV is a challenging
problem due to the highly non-linear dynamics uncertain parameters and
unpredictable external disturbances. Therefore, conventional control methods have
not been very successful.
The proposed adaptive fuzzy controller can approximate the unknown system
dynamics and is robust against the model uncertainties and external disturbances.
The adaptive hzzy sliding mode controller can be free from the system model and
can achieve simple and fast control for complex nonlinear systems. |
| first_indexed | 2024-10-01T05:04:32Z |
| format | Thesis |
| id | ntu-10356/4284 |
| institution | Nanyang Technological University |
| last_indexed | 2024-10-01T05:04:32Z |
| publishDate | 2008 |
| record_format | dspace |
| spelling | ntu-10356/42842023-07-04T15:14:25Z Adaptive fuzzy sliding mode controller for autonomous uderwater vehicles Ge, Haoran. Balasuriya, Arjuna Prabhath School of Electrical and Electronic Engineering DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering This thesis presents an adaptive fuzzy sliding mode controller (AFSMC) for autonomous underwater vehicles (AUVs). Control of an AUV is a challenging problem due to the highly non-linear dynamics uncertain parameters and unpredictable external disturbances. Therefore, conventional control methods have not been very successful. The proposed adaptive fuzzy controller can approximate the unknown system dynamics and is robust against the model uncertainties and external disturbances. The adaptive hzzy sliding mode controller can be free from the system model and can achieve simple and fast control for complex nonlinear systems. Master of Science 2008-09-17T09:48:18Z 2008-09-17T09:48:18Z 2005 2005 Thesis http://hdl.handle.net/10356/4284 Nanyang Technological University application/pdf |
| spellingShingle | DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering Ge, Haoran. Adaptive fuzzy sliding mode controller for autonomous uderwater vehicles |
| title | Adaptive fuzzy sliding mode controller for autonomous uderwater vehicles |
| title_full | Adaptive fuzzy sliding mode controller for autonomous uderwater vehicles |
| title_fullStr | Adaptive fuzzy sliding mode controller for autonomous uderwater vehicles |
| title_full_unstemmed | Adaptive fuzzy sliding mode controller for autonomous uderwater vehicles |
| title_short | Adaptive fuzzy sliding mode controller for autonomous uderwater vehicles |
| title_sort | adaptive fuzzy sliding mode controller for autonomous uderwater vehicles |
| topic | DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering |
| url | http://hdl.handle.net/10356/4284 |
| work_keys_str_mv | AT gehaoran adaptivefuzzyslidingmodecontrollerforautonomousuderwatervehicles |